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Robust Adaptive Control Allocation Schemes for Overactuated Underwater Vehicles under Actuator Faults

IFAC-PapersOnLine 2022年第6期55卷 67-72页

作者： Waseem Akram Alessandro Casavola Nikola Miškovic Department of Computer Engineering Modeling Electronics and Systems (DIMES) University of Calabria Rende Italy Faculty of Electrical Engineering and Computing LABUST - Laboratory for Underwater Systems and Technologies University of Zagreb Unska 3 Zagreb Croatia

In this paper, we investigate the fault-tolerant path following control problem for an overactuated underwater vehicle subject to input saturation and rate of change constraints, actuator faults and parametric (mass and inertia) uncertainty. A robust adaptive control allocation strategy is proposed capable to reconfigure the distribution of the control effort among the remaining healthy actuators in the case some of them failed. The online estimation of actuators' effectiveness and bias fault parameters is integrated with the control allocation and reconfiguration unit. The robustness and performance of the scheme are shown by evaluating the results of simulations and pool experiments of different path-following control problems using overactuated underwater vehicles.

关键词： Adaptive control Underwater vehicles Actuator faults trajectory tracking

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Assessing the current state of a shipwreck using an autonomous marine robot: Szent istvan case study 17th

Assessing the current state of a shipwreck using an autonomo...

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17th International Symposium on Distributed computing and Artificial Intelligence, DCAI 2020

作者： Kapetanović, Nadir Vasilijević, Antonio Zubčić, Krunoslav Faculty of Electrical Engineering and Computing Laboratory for Underwater Systems and Technologies University of Zagreb Zagreb Croatia Department of Underwater Archeology Croatian Conservation Institute Zagreb Croatia

ISBN: (纸本)9783030538286

S.M.S. Szent Istvan, the only ship belonging to the Hungarian monarchy, met her end on June 10th 1918 shortly before dawn. It was sunk by Italian torpedo boats. On the 101st anniversary of this event the shipwreck was recorded for the first time by a multibeam sonar-mounted autonomous surface vehicle. The shipwreck has already suffered irreversible degradation of her steel and iron hull. Thus, the main objective of the bathymetric surveys was to assess the current state of the shipwreck and to set up a foundation which future monitoring operations could be built upon and compared with. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.

关键词： Bathymetry

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A Multi-DOF Robot System Based on LightGBM-Driven EEG Decoding Model for BCI Human-Machine Interaction 42

A Multi-DOF Robot System Based on LightGBM-Driven EEG Decodi...

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42nd Chinese Control Conference, CCC 2023

作者： Yan, Weidong Xu, Zhaoliang Li, Yang Beihang University The Department of Automation Science and Electrical Engineering Beijing100191 China The Beijing Advanced Innovation Center for Big Data and Brain Computing Beijing100191 China Beihang University State Key Laboratory of Virtual Reality Technology and Systems Beijing100191 China Advanced Institute of Information Technology Peking University Hangzhou310000 China

ISBN: (纸本)9789887581543

In this study, a multi-degree-of-freedom (Multi-DOF) robot (MDR) system based on a LightGBM-driven electroencephalogram (EEG) decoding model is designed and developed to assist subjects with hand motor dysfunction in their daily activities and neurorehabilitation. The system mainly consists of a motor imagery electroencephalogram (MI-EEG) evoking layer, an intention decoding layer, and an interaction executive layer. The MI-EEG evoking layer initially displays a virtual reality (VR) motion imagination scenario, instructing the subjects to imagine a real hand gripping movement, simultaneously collecting the electrical EEG signals and preprocessing the EEG signals. Secondly, in the intention decoding layer, a network combining temporal-spectral feature fusion and LightGBM (TSFF-LightGBM) for MI-BCI classification is used to more effectively boost brain decoding accuracy and decrease decoding time. Finally, in the interaction executive layer, the Multi-DOF wearable robot is developed to offer hand grasp motion kinesthetic feedback and visual feedback synced with MI. The following are the key benefits of the proposed MDR system: (1) We propose a new lightweight network structure more suitable for brain computer interface (BCI) interaction systems, achieving more accurate decoding and shorter identification time in different data sets, which helps to improve the practicability of the system and promote the practical clinical application of BCI rehabilitation technology. (2) We integrate BCI, VR, a wearable Multi-DOF robot, motion kinesthetic feedback, and visual feedback to improve human-machine interaction. Compared to the most recent investigations, the average accuracy of the MDR system on the publicly accessible datasets BCI IV 2a and HGD reached 75.89% and 93.53%, respectively. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Brain computer interface

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A Channel-Augmented Multi-Domain Graph Convolutional Network for Fatigue Driving Detection

A Channel-Augmented Multi-Domain Graph Convolutional Network...

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Industrial Automation, Robotics and Control engineering (IARCE), International Conference on

作者： Mingyi Sun Weigang Cui Yang Li Department of Automation Science and Electrical Engineering Beihang University Beijing China School of Engineering Medicine Beihang University Beijing China Department of Automation Science and Electrical Engineering State Key Laboratory of Virtual Reality Technology and Systems The Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing China

ISBN: (数字)9798350380323

ISBN: (纸本)9798350380330

Electroencephalography (EEG) has emerged as a crucial cornerstone within the realm of brain-computer interface (BCI) applications, with its significance notably pronounced in the field of fatigue detection. However, the inherent limitations of EEG acquisition equipment during real driving scenarios have contributed to the constrained robustness of existing models. Moreover, most of recent methods failed to extract robust multi-domain features, leading to a suboptimal performance. To address these challenges, we propose a novel channel-augmented multi-domain graph convolutional network (CA-MDGCNet). Specifically, the initial EEG signals are enriched by incorporating supplementary virtual EEG channels, distinguished as learnable parameters within the network architecture. Then, differential entropy features are extracted from the augmented EEG signals. Following this, a multi-domain graph convolutional network is designed to encode high-level EEG features by means of convolutions in diverse paths, which is beneficial to integrating the characteristics extracted from multiple domains. Finally, the classification block derives the detection outcome from the refined feature maps. To substantiate the potency of the proposed method, the validation was conducted on the publicly accessible SEED-VIG. The proposed CA-MDGCNet not only demonstrates more promising performance compared to state-of-the-art approaches but also underscores the potential viability of our method for the realm of fatigue driving detection.

关键词： Graph convolutional networks Convolution Service robots Neural activity Feature extraction Fatigue Brain modeling Electroencephalography Entropy Robustness

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Coherent and incoherent laser pump on a five-level atom in a strongly coupled cavity-QED system

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Physical Review A 2022年第1期105卷 013701-013701页

作者： Asha Devi Sarath D. Gunapala Malin Premaratne Advanced Computing and Simulation Laboratory Department of Electrical and Computer Systems Engineering Monash University Clayton Victoria 3800 Australia Jet Propulsion Laboratory California Institute of Technology Pasadena California 91109 USA

We propose a cavity quantum electrodynamic system consisting of a five-level atom coupled to a single mode of the cavity electromagnetic field. The study is focused on the regime of strong coupling between the cavity and atom. Pump laser fields and cavity fields connect the split energy levels of the atom. Instead of the well-known two-level Dicke model obtained by adiabatic elimination of the high-energy levels, we consider the pump lasers' detunings to the atomic transitions to be very small such that we can examine the influence of the higher-energy states. We have studied the effect of an external coherent drive and incoherent pumping on these higher-energy levels and observed the enhancement of intracavity photon numbers due to quantum coherence effects. The amplification of intracavity photons is achieved even without a population inversion. However, the effect of the coherent and incoherent drive is negligible for very large detunings when the higher-energy states are adiabatically eliminated. At zero and small detunings, the system reaches the steady state at an earlier instant of time for higher incoherent pumping. We find an almost agreeable steady-state behavior of the system's exact full quantum dynamics model and its semiclassical approximation. Our model tries to accurately simulate the open system by considering the cavity decay, spontaneous decay, and dephasing of the system.

关键词： Atoms, ions, & molecules in cavities Cavity quantum electrodynamics Nanophotonics

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A Distributed Framework for Large-scale Protein-protein Interaction Data Analysis and Prediction Using MapReduce

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 160-172页

作者： Lun Hu Shicheng Yang Xin Luo Huaqiang Yuan Khaled Sedraoui MengChu Zhou School of Computer Science and Technology Dongguan University of TechnologyDongguan 523808China School of Computer Science and Technology Wuhan University of TechnologyWuhan 430070China Chongqing Engineering Research Center of Big Data Application for Smart Cities and Chongqing Key Laboratory of Big Data and Intelligent ComputingChongqing Institute of Green and Intelligent TechnologyChinese Academy of SciencesChongqing 400714China Xinjiang Technical Institute of Physics and Chemistry Chinese Academy of SciencesUrumqi 830000China Center of Research Excellence in Renewable Energy and Power Systems and the Department of Electrical and Computer EngineeringFaculty of EngineeringKing Abdulaziz UniversityJeddah 21589Saudi Arabia Department of Electrical and Computer Engineering New Jersey Institute of TechnologyNewarkNJ 07102 USA

Protein-protein interactions are of great significance for human to understand the functional mechanisms of *** the rapid development of high-throughput genomic technologies,massive protein-protein interaction(PPI)data have been generated,making it very difficult to analyze them *** address this problem,this paper presents a distributed framework by reimplementing one of state-of-the-art algorithms,i.e.,CoFex,using *** do so,an in-depth analysis of its limitations is conducted from the perspectives of efficiency and memory consumption when applying it for large-scale PPI data analysis and *** solutions are then devised to overcome these *** particular,we adopt a novel tree-based data structure to reduce the heavy memory consumption caused by the huge sequence information of *** that,its procedure is modified by following the MapReduce framework to take the prediction task distributively.A series of extensive experiments have been conducted to evaluate the performance of our framework in terms of both efficiency and *** results well demonstrate that the proposed framework can considerably improve its computational efficiency by more than two orders of magnitude while retaining the same high accuracy.

关键词： Distributed computing large-scale prediction machine learning MapReduce protein-protein interaction(PPI)

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A Multi-Head Convolution Network with Attention Consistency for Facial Expression Recognition 42

A Multi-Head Convolution Network with Attention Consistency ...

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42nd Chinese Control Conference, CCC 2023

作者： Liu, Wenkang Sun, Mingyi Li, Yang Beihang University The Department of Automation Science and Electrical Engineering Beijing100191 China The Beijing Advanced Innovation Center for Big Data and Brain Computing Beijing100191 China Beihang University State Key Laboratory of Virtual Reality Technology and Systems Beijing100191 China Peking University Advanced Institute of Information Technology Hangzhou310000 China

ISBN: (纸本)9789887581543

In recent years, the demand for facial expression recognition applications has increased rapidly, and its research has received extensive attention from researchers. However, the current recognition methods based on deep learning ignore the idea of multiple head attention and semantic consistency, resulting in the model only paying attention to the local area of the feature map. In addition, the model's inconsistent attention to the images before and after the flip, resulting the poor robustness, poor interpretation, and other shortcomings in the model. To address the above problems, we propose an Affinity Separation Loss (ASLoss), which improves the separability of samples through clustering. Moreover, a Separate Multi-head Attention block (SMA), and a Zonal Loss (ZLoss) are also designed to decentralize the model's attention. Experimental results demonstrate that our proposed MACNet method achieves competitive recognition performance on two public datasets RAF-DB and FERPlus. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Face recognition

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LEGENDRE-MOMENT TRANSFORM FOR LINEAR ENSEMBLE CONTROL AND COMPUTATION

arXiv

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arXiv 2024年

作者： Ning, Xin Cheng, Gong Zhang, Wei Li, Jr-Shin Department of Electrical and Systems Engineering Washington University in St. Louis St. LouisMO63130 United States School of Mathematical Sciences Tongji University Key Laboratory of Intelligent Computing and Applications [Tongji University Ministry of Education Shanghai200092 China Department of Electrical and Systems Engineering Washington University in St. Louis United States

Ensemble systems, pervasive in diverse scientific and engineering domains, pose challenges to existing control methods due to their massive scale and underactuated nature. This paper presents a dynamic moment approach to addressing theoretical and computational challenges in systems-theoretic analysis and control design for linear ensemble systems. We introduce the Legendre-moments and Legendre-moment transform, which maps an ensemble system defined on the L2-space to a Legendre-moment system defined on the 2-space. We show that this pair of systems is of one-to-one correspondence and shares the same controllability property. This equivalence admits the control of an ensemble system through the control of the corresponding Legendre-moment system and inspires a unified control design scheme for linear ensemble systems using structured truncated moment systems. In particular, we develop a sampling-free ensemble control design algorithm, then conduct error analysis for control design using truncated moment systems and derive error bounds with respect to the truncation orders, which are illustrated with numerical *** Codes 93B05, 93B28, 93B51 © 2024, CC BY.

关键词： Error analysis

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Towards Instance Segmentation-Based Litter Collection with Multi-Rotor Aerial Vehicle

Towards Instance Segmentation-Based Litter Collection with M...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Filip Zoric Antonio Franchi Matko Orsag Zdenko Kovacic Chiara Gabellieri Laboratory for Robotics and Intelligent Control Systems (LARICS) at the Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Robotics and Mechatronics Group from the University of Twente Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This paper presents a novel aerial robotics application of instance segmentation-based floating litter collection with a multi-rotor aerial vehicle (MRAV). In the scope of the paper, we present a review of the available datasets for litter detection and segmentation. The reviewed datasets are used to train a Mask-RCNN neural network for instance segmentation. The neural network is off-board deployed on an edge computing device and used for litter position estimation. Based on the estimated litter position, we plan a path based on a quadratic Bezier curve for the litter pickup. We compare different trajectory generation methods for the object pickup. The system is verified in a laboratory environment. Eventually, we present practical considerations and improvements necessary to enable autonomous litter collection with MRAV.

关键词： Instance segmentation Reviews Neural networks Laboratories Estimation Trajectory Aircraft

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Towards quantum thermal multi-transistor systems: Energy divider formalism

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Physical Review B 2022年第23期105卷 235412-235412页

作者： Ravi T. Wijesekara Sarath D. Gunapala Malin Premaratne Advanced Computing and Simulation Laboratory(AχL) Department of Electrical and Computer Systems Engineering Monash University Clayton Victoria 3800 Australia Jet Propulsion Laboratory California Institute of Technology Pasadena California 91109 USA

A quantum thermal transistor controls the flow of thermal energy through two of its terminals in response to an external input signal on its third terminal. In recent years, several realizations of thermal transistors combining individual quantum systems have been proposed using temperatures or optical fields as the control signals. The success of the electronic transistor in modern technology partly lies in its ability to combine and make multi-transistor systems with enhanced flow control capability or even wholly different behaviors. Hence, as the next natural step, we investigate the intricacies of building composite systems combining multiple quantum thermal transistors. We identify that the interconnects of thermal transistors play a critical role in these systems by facilitating energy exchange from one transistor to another. By isolating the exact functionality of these interconnects, we develop a simple model that still captures all its essential characteristics. This model shows that directly coupling transistors allows a substantial energy transfer between them only under highly restrictive conditions. We then develop the energy divider formalism where a single properly tuned quantum harmonic oscillator acts as an intermediary between the transistors. We demonstrate that the oscillator mediates a substantial energy exchange under a considerably relaxed set of conditions and illustrate its operating principles through detailed quantum mechanical state analysis. We compare our energy divider based interconnect against the previously developed intermediate bath method and confirm that both ways achieve similar thermal energy flow rates between the transistors over a broad range of operating temperatures. At the same time, replacing an intermediate bath made up of a large number of harmonic oscillators with a single oscillator avoids many of the theoretical and practical limitations of the earlier method. For instance, time-domain simulations show that the en

关键词： Quantum thermodynamics Thermal conductivity Harmonic oscillator Nanotechnology Transistors

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